Automatic-sensing transfer device based on edge-tracing alignment algorithm

ABSTRACT

The invention discloses an automatic-sensing transfer device based on an edge-tracing alignment algorithm, which is characterized by comprising a device body, a rotating device, a lifting device, a stretchable device, a sensing device, a gripping device and a control device. The rotating device, the stretchable device, the lifting device, the sensing device, the gripping device and the control device are all arranged on the device body. The control device is connected to the rotating device, the stretchable device, the lifting device, the gripping device and the sensing device. Accurate positioning of the gripping device can be realized through the transfer device, so that the production efficiency is improved.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No.201910309110.9 with a filing date of Apr. 17, 2019. The content of theaforementioned application, including any intervening amendmentsthereto, are incorporated herein by reference.

BACKGROUND OF THE INVENTION Technical Field

The invention relates to the technical field of transferring, inparticular to an automatic-sensing transfer device based on anedge-tracing alignment algorithm.

Description of Related Art

Mechanical grippers are usually used in modern production to transfergoods or parts in one procedure to the next procedure to guarantee thecontinuity between different procedures. However, by adoption of suchtransfer operation, the positioning accuracy of the mechanical grippersis low, and the production efficiency is affected.

BRIEF SUMMARY OF THE INVENTION

The objective of the invention is to provide an automatic-sensingtransfer device based on an edge-tracing alignment algorithm to solvethe problems put forward in the description of related art.

To fulfill the above objective, the following technical solution isadopted by the invention:

An automatic-sensing transfer device based on an edge-tracing alignmentalgorithm comprises a device body, a rotating device, a lifting device,a stretchable device, a sensing device, a gripping device and a controldevice, wherein the rotating device, the stretchable device, the liftingdevice, the sensing device, the gripping device and the control deviceare all arranged on the device body, and the control device is connectedto the rotating device, the stretchable device, the lifting device, thegripping device and sensing device.

A base plate is arranged on the device body.

The rotating device comprises a driving gear, a stepping motor I and adriven gear, wherein the stepping motor I is fixedly arranged under thebase plate, an output shaft of the stepping motor I penetrates throughthe base plate to be connected to the driving gear, the driving gear andthe driven gear are both arranged on the base plate, and the driven gearis movably connected to the base plate and is engaged with the drivinggear.

The lifting device comprises an upper support plate, a lower supportplate, a lead screw I, support rods, a lead screw nut I, and a steppingmotor II, wherein the lower support plate is arranged above the drivengear and is fixedly connected to the central axis of the driven gear;the lead screw I and the support rods are arranged between the uppersupport plate and the lower support plate in parallel and areperpendicular to the upper support plate and the lower support plate;the number of the support rods is two, and the two support rods arerespectively arranged on the left side and the right side of the leadscrew I; the lead screw nut I is arranged on the lead screw I; and thestepping motor II is fixedly arranged above the upper support plate, andan output shaft of the stepping motor II penetrates through the uppersupport plate to be connected to the lead screw I.

The stretchable device comprises a stepping motor III, a connectingplate, a lead screw II, a lead screw nut II, bracket plates, and slidingrods I, wherein the connecting plate has a side face, an upper surface,and a groove formed in the upper surface, and the side face of theconnecting plate is fixedly connected to a side face of the lead screwnut I; the number of the bracket plates is two, and the two bracketplates are respectively a bracket plate I and a bracket plate II whichare arranged at the front end and the rear end of the grooverespectively; the stepping motor III is arranged at the rear end of thebracket plate II and is fixedly connected to the upper surface of theconnecting plate, and an output shaft of the stepping motor III ismovably connected to the bracket plate II and penetrates through thebracket plate II to be fixedly connected to one end of the lead screwII; the other end of the lead screw II is movably connected to thebracket plate I, and the lead screw nut II is arranged on the lead screwII; the number of the sliding rods I is two, and the two sliding rods Iare respectively arranged on sides, away from the lead screw I, of thetwo support rods; and connecting pieces I are arranged on the side faceof the connecting plate and are slidably connected to the two slidingrods I.

The gripping device comprises a steering engine, a clamping plate I, aclamping plate II, a sliding rod II, a positioning block, a mountingplate, and a connecting piece II, wherein the connecting piece II has anupper mounting face and a side mounting face perpendicular to the uppermounting face; the mounting plate is fixedly arranged below the leadscrew nut II; one end of the sliding rod II is fixedly connected to themounting plate, the other end of the sliding rod II penetrates throughthe positioning block to be connected to the side mounting face of theconnecting piece II, and the sliding rod II is slidably connected to thepositioning block; a first end of the clamping plate I is provided witha gear I and has an S-shaped clamping face extending to a second end; anoutput shaft of the steering engine penetrates through the uppermounting face of the connecting piece II to be fixedly connected to thecenter of the gear I at the first end of the clamping plate I; a firstend of the clamping plate II is provided with a gear II, has an S-shapedclamping face extending towards a second end, and is movably connectedto the upper mounting face of the connecting piece II; the clampingplate II and the clamping plate I are arranged in a mirror symmetrymanner, and the gear I is engaged with the gear II; and limit switchesare arranged on the outer side of the clamping plate I and the outerside of the clamping plate II.

The sensing device comprises a sensor and a sensor holder, wherein thesensor is fixed to the gripping device through the sensor holder, andthe sensor is an infrared sensor.

The control device comprises a microcontroller.

A using method of an automatic-sensing transfer device based on anedge-tracing alignment algorithm comprises the following steps:

-   -   (1) First of all, disposing a plurality of storage platforms, a        feeding platform for storing to-be-transferred goods and a        discharging platform for storing transferred goods near a        device;    -   (2) Starting a control device which in turn starts a stepping        motor I, adjusting the angle of a gripping device, and searching        for required goods by an infrared sensor;    -   (3) Recording, when the infrared sensor senses the goods for the        first time, a current position, continuing to rotate the        stepping motor I until the infrared sensor detects the other        side of the goods, then working out, by a microcontroller, a        rotation angle of the stepping motor I to the center of the        goods based on an edge-tracing alignment algorithm, outputting        pulses to the stepping motor I, and then rotating the stepping        motor I to align the front end of the gripping device to the        center of the goods, so that accurate positioning of the        gripping device is realized;    -   (4) Performing detection and feedback synchronously by the        infrared sensor; when the distance is greater than 6 mm,        outputting a pulse signal to a stepping motor III by the        microcontroller to enable the front end of the gripping device        to continuously draw close to the goods; when the distance is 6        mm, stopping the stepping motor III, controlling a steering        engine to open a clamping plate I and a clamping plate II on the        gripping device, controlling the steering engine to rotate the        clamping plate I and the clamping plate II by an angle to clamp        goods when limit switches on the outer side of the clamping        plate I and the outer side of the clamping plate II are        triggered, and rotating a lead screw by the stepping motor III        to restore the gripping device; and    -   (5) Processing a difference between the current position and an        initial position to figure out the number of rotation pulses and        outputting a pulse signal to the stepping motor I, by the        microcontroller; rotating the stepping motor I which in turn        lowers the gripping device to an angle corresponding to the        discharging platform, outputting, by the microcontroller, a        pulse signal to a stepping motor II which in turn rotates to        lower the goods to the discharging platform, starting the        steering engine to open the clamping plate I and the clamping        plate II on the steering engine, and finally, lifting, by the        stepping motor II, the gripping device to an original height to        complete transferring.

The edge-tracing alignment algorithm comprises the following steps:

Recording: a rotation angle A of the stepping motor I is recorded whenthe infrared sensor detects one side of the goods, and a rotation angleB of the stepping motor I is recorded when the infrared sensor detectsthe other side of the goods;

Calculation: a rotation angle of the stepping motor I from the initialposition to the center of the goods is (A+B)/2.

Compared with the prior art, the invention has the following technicaleffects:

Accurate positioning of the gripping device can be realized through thetransfer device of the invention, so that the production efficiency isimproved.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 is a perspective view of the invention.

FIG. 2 is an enlarged view of part A in FIG. 1.

FIG. 3 is an enlarged view of part C in FIG. 1.

FIG. 4 is another perspective view of the invention.

DETAILED DESCRIPTION OF THE INVENTION

The invention is further described below in combination with theaccompanying drawings and embodiments.

As shown in the figures, an automatic-sensing transfer device based onan edge-tracing alignment algorithm comprises a device body, a rotatingdevice 2, a lifting device 4, a stretchable device 3, a sensing device,a gripping device 5, and a control device, wherein the rotating device2, the stretchable device 3, the lifting device 4, the sensing device,the gripping device 5 and the control device are all arranged on thedevice body, and the control device is connected to the rotating device2, the stretchable device 3, the lifting device 4, the gripping device 5and the sensing device.

A base plate 1 is arranged on the device body.

The rotating device 2 comprises a driving gear 202, a stepping motor1201, and a driven gear 203, wherein the stepping motor 1201 is fixedlyarranged under the base plate 1, an output shaft of the stepping motor1201 penetrates through the base plate 1 to be connected to the drivinggear 202, the driving gear 202 and the driven gear 203 are both arrangedon the base plate 1, and the driven gear 203 is movably connected to thebase plate 1 and is engaged with the driving gear 202; and the height ofthe driven gear 203 is greater than that of the driving gear 202.

The lifting device 4 comprises an upper support plate 408, a lowersupport plate 401, a lead screw 1402, support rods 403, a lead screw nut1405, and a stepping motor 11407, wherein the lower support plate 401 isarranged above the driven gear 203 and is fixedly connected to thecentral axis of the driven gear 203; the lead screw 1402 and the supportrods 403 are arranged between the upper support plate 408 and the lowersupport plate 401 in parallel and are perpendicular to the upper supportplate 408 and the lower support plate 401; the number of the supportrods 403 is two, and the two support rods 403 are respectively arrangedon the left side and the right side of the lead screw 1402; the leadscrew nut 1405 is arranged on the lead screw 1402; and the steppingmotor 11407 is fixedly arranged above the upper support plate 408, andan output shaft of the stepping motor 11407 penetrates through the uppersupport plate 408 to be connected to the lead screw 1402.

The stretchable device comprises a stepping motor 111301, a connectingplate, a lead screw 11305, a lead screw nut 11304, bracket plates, andsliding rods 1311, wherein the connecting plate has a side face 310, anupper surface 302, and a groove formed in the upper surface 302, and theside face 310 of the connecting plate is fixedly connected to a sideface of the lead screw nut 1405; the number of the bracket plates istwo, and the two bracket plates are respectively a bracket plate 1306and a bracket plate 11303 which are arranged at the front end and therear end of the groove respectively; the stepping motor 111301 isarranged at the rear end of the bracket plate 11303 and is fixedlyconnected to the upper surface 302 of the connecting plate, and anoutput shaft of the stepping motor 111301 is movably connected to thebracket plate 11303 and penetrates through the bracket plate 11303 to befixedly connected to one end of the lead screw 11305; the other end ofthe lead screw 11305 is movably connected to the bracket plate 1306, andthe lead screw nut 11304 is arranged on the lead screw 11305; the numberof the sliding rods 1311 is two, and the two sliding rods 1311 arerespectively arranged on sides, away from the lead screw 1402, of thetwo support rods 403; and connecting pieces 1312 are arranged on theside face 310 of the connecting plate and are slidably connected to thetwo sliding rods 1311.

The gripping device comprises a steering engine 502, a clamping plate1503, a clamping plate 11504, a sliding rod 11506, a positioning block508, a mounting plate 507, and a connecting piece II, wherein theconnecting piece II has an upper mounting face 505 and a side mountingface 501 perpendicular to the upper mounting face 505; the mountingplate 507 is fixedly arranged below the lead screw nut 11304; one end ofthe sliding rod 11506 is fixedly connected to the mounting plate 507,the other end of the sliding rod 11506 penetrates through thepositioning block 508 to be connected to the side mounting face 501 ofthe connecting piece II, and the sliding rod 11506 is slidably connectedto the positioning block 508; a first end of the clamping plate 1503 isprovided with a gear I and has an S-shaped clamping face extending to asecond end; an output shaft of the steering engine 502 penetratesthrough the upper mounting face 505 of the connecting piece II to befixedly connected to the center of the gear I at the first end of theclamping plate 1503; a first end of the clamping plate 11504 is providedwith a gear II, has an S-shaped clamping face extending towards a secondend, and is movably connected to the upper mounting face 505 of theconnecting piece II; the clamping plate 11504 and the clamping plate1503 are arranged in a mirror symmetry manner, and the gear I is engagedwith the gear II; and limit switches are arranged on the outer side ofthe clamping plate 1503 and the outer side of the clamping plate 11504.

The sensing device comprises a sensor and a sensor holder, wherein thesensor is fixed to the gripping device 5 through the sensor holder, andthe sensor is an infrared sensor.

The control device comprises a STC89C52 microcontroller.

A using method of an automatic-sensing transfer device based on anedge-tracing alignment algorithm comprises the following steps:

-   -   (1) First of all, a plurality of storage platforms, a feeding        platform for storing to-be-transferred goods and a discharging        platform for storing transferred goods are disposed near a        device;    -   (2) A control device is started to start a stepping motor 1201,        the angle of a gripping device 5 is adjusted, and an infrared        sensor is used for searching for required goods.    -   (3) When the infrared sensor senses the goods for the first        time, the rotation angle of the stepping motor 1201 at this        moment is recorded, the stepping motor 1201 continues to rotate        until the infrared sensor detects other side of the goods, the        rotation angle of the stepping motor 1201 at this moment is        recorded, a microcontroller works out the rotation angle of the        stepping motor 1201 to the center of the goods through an        edge-tracing alignment algorithm and outputs pulses to the        stepping motor 1201, and then the stepping motor 1201 rotates to        align the front end of the gripping device 5 to the center of        the goods, so that accurate positioning of the gripping device        is realized.    -   (4) The infrared sensor performs detection and feedback        synchronously; when the distance is greater than 6 mm, the        microcontroller outputs a pulse signal to a stepping motor        111301 to enable the front end of the gripping device 5 to        continuously draw close to the goods; when the distance is 6 mm,        the stepping motor 111301 is stopped, a steering engine 502 is        controlled to open a clamping plate 1503 and a clamping plate        11504 on the gripping device 5; when limit switches on the outer        side of the clamping plate 1503 and the outer side of the        clamping plate 11504 are triggered, the steering engine 502 is        controlled to rotate the clamping plate 1503 and the clamping        plate 11504 to rotate by an angle to clamp the goods; and then,        the stepping motor 111301 rotates a lead screw to restore the        gripping device 5.    -   (5) The microcontroller processes a difference between the        current position and an initial position to figure out the        number of rotation pulses and then outputs a pulse signal to the        stepping motor 1201 which in turn rotates the gripping device 5        to an angle corresponding to the discharging platform, then the        microcontroller outputs a pulse signal to a stepping motor 11407        which in turn rotates to lower the goods to the discharging        platform, the steering engine 502 is started to open the        clamping plate 1503 and the clamping plate 11504 on the gripping        device 5, and finally, the stepping motor 11407 lifts the        gripping device 5 to the original height to complete        transferring.

The edge-tracing alignment algorithm comprises the following steps:

Recording: a rotation angle A of the stepping motor 1201 is recordedwhen the infrared sensor detects one side of the goods, and a rotationangle B of the stepping motor 1201 is recorded when the infrared sensordetects the other side of the goods; and

Calculation: a rotation angle of the stepping motor 1201 from theinitial position to the center of the goods is (A+B)/2.

The above embodiments are only preferred ones of the invention, and arenot intended to limit the invention. Any modifications and equivalentsubstitutions and improvements made on the basis of the spirit andprinciple of the invention should also fall within the protection scopeof the invention.

We claim:
 1. An automatic-sensing transfer device based on anedge-tracing alignment algorithm, comprising a device body, a rotatingdevice, a lifting device, a stretchable device, a sensing device, agripping device and a control device, wherein the rotating device, thestretchable device, the lifting device, the sensing device, the grippingdevice and the control device are all arranged on the device body, andthe control device is connected to the rotating device, the stretchabledevice, the lifting device, the gripping device and sensing device. 2.The automatic-sensing transfer device based on an edge-tracing alignmentalgorithm according to claim 1, wherein a base plate is arranged on thedevice body.
 3. The automatic-sensing transfer device based on anedge-tracing alignment algorithm according to claim 2, wherein therotating device comprises a driving gear, a stepping motor I and adriven gear, the stepping motor I is fixedly arranged under the baseplate, an output shaft of the stepping motor I penetrates through thebase plate to be connected to the driving gear, the driving gear and thedriven gear are both arranged on the base plate, and the driven gear ismovably connected to the base plate and is engaged with the drivinggear.
 4. The automatic-sensing transfer device based on an edge-tracingalignment algorithm according to claim 3, wherein the lifting devicecomprises an upper support plate, a lower support plate, a lead screw I,support rods, a lead screw nut I, and a stepping motor II; the lowersupport plate is arranged above the driven gear and is fixedly connectedto a central axis of the driven gear; the lead screw I and the supportrods are arranged between the upper support plate and the lower supportplate in parallel and are perpendicular to the upper support plate andthe lower support plate; the number of the support rods is two, and thetwo support rods are respectively arranged on a left side and a rightside of the lead screw I; the lead screw nut I is arranged on the leadscrew I; and the stepping motor II is fixedly arranged above the uppersupport plate, and an output shaft of the stepping motor II penetratesthrough the upper support plate to be connected to the lead screw I. 5.The automatic-sensing transfer device based on an edge-tracing alignmentalgorithm according to claim 4, wherein the stretchable device comprisesa stepping motor III, a connecting plate, a lead screw II, a lead screwnut II, bracket plates, and sliding rods I; the connecting plate has aside face, an upper surface, and a groove formed in the upper surface,and the side face of the connecting plate is fixedly connected to a sideface of the lead screw nut I; the number of the bracket plates is two,and the two bracket plates are respectively a bracket plate I and abracket plate I which are arranged at a front end and a rear end of thegroove respectively; the stepping motor III is arranged at a rear end ofthe bracket plate II and is fixedly connected to the upper surface ofthe connecting plate, and an output shaft of the stepping motor III ismovably connected to the bracket plate II and penetrates through thebracket plate II to be fixedly connected to an end of the lead screw II;an end of the lead screw II is movably connected to the bracket plate I,and the lead screw nut II is arranged on the lead screw II; the numberof the sliding rods I is two, and the two sliding rods I arerespectively arranged on sides, away from the lead screw I, of the twosupport rods; and connecting pieces I are arranged on the side face ofthe connecting plate and are slidably connected to the two sliding rodsI.
 6. The automatic-sensing transfer device based on an edge-tracingalignment algorithm according to claim 5, wherein the gripping devicecomprises a steering engine, a clamping plate I, a clamping plate II, asliding rod II, a positioning block, a mounting plate, and a connectingpiece II; the connecting piece II has an upper mounting face and a sidemounting face perpendicular to the upper mounting face; the mountingplate is fixedly arranged below the lead screw nut II; the sliding rodII has an end fixedly connected to the mounting plate and an endpenetrating through the positioning block to be connected to the sidemounting face of the connecting piece II, and the sliding rod II isslidably connected to the positioning block; a first end of the clampingplate I is provided with a gear and has an S-shaped clamping faceextending to a second end; an output shaft of the steering enginepenetrates through the upper mounting face of the connecting piece II tobe fixedly connected to a center of the gear I at the first end of theclamping plate I; a first end of the clamping plate II is provided witha gear II, has an S-shaped clamping face extending towards a second end,and is movably connected to the upper mounting face of the connectingpiece II; the clamping plate II and the clamping plate I are arranged ina mirror symmetry manner, and the gear I is engaged with the gear II;and limit switches are arranged on an outer side of the clamping plate Iand an outer side of the clamping plate II.
 7. The automatic-sensingtransfer device based on an edge-tracing alignment algorithm accordingto claim 6, wherein the sensing device comprises a sensor and a sensorholder, the sensor is fixed to the gripping device through the sensorholder, and the sensor is an infrared sensor.
 8. The automatic-sensingtransfer device based on an edge-tracing alignment algorithm accordingto claim 1, wherein the control device comprises a microcontroller.
 9. Ausing method of an automatic-sensing transfer device based on anedge-tracing alignment algorithm, comprising the following steps: (1)First of all, disposing a plurality of storage platforms, a feedingplatform for storing to-be-transferred goods and a discharging platformfor storing transferred goods near a device; (2) Starting a controldevice which in turn starts a stepping motor I, adjusting an angle of agripping device, and searching for required goods by an infrared sensor;(3) Recording, when the infrared sensor senses the goods for the firsttime, a current position, continuing to rotate the stepping motor Iuntil the infrared sensor detects another side of the goods, thenworking out, by a microcontroller, a rotation angle of the steppingmotor I to a center of the goods based on an edge-tracing alignmentalgorithm, outputting pulses to the stepping motor I, and then rotatingthe stepping motor I to align a front end of the gripping device to thecenter of the goods, so that accurate positioning of the gripping deviceis realized; (4) Performing detection and feedback synchronously by theinfrared sensor; when a distance is greater than 6 mm, outputting apulse signal to a stepping motor III by the microcontroller to enablethe front end of the gripping device to continuously draw close to thegoods; when the distance is 6 mm, stopping the stepping motor III,controlling a steering engine to open a clamping plate I and a clampingplate II on the gripping device, controlling the steering engine torotate the clamping plate I and the clamping plate II to rotate by anangle to clamp the goods when limit switches on an outer side of theclamping plate I and an outer side of the clamping plate are triggered,and rotating a lead screw by the stepping motor III to restore thegripping device; and (5) Processing a difference between the currentposition and an initial position to figure out the number of rotationpulses and outputting a pulse signal to the stepping motor I, by themicrocontroller; rotating, by the stepping motor I, the gripping deviceto an angle corresponding to the discharging platform, outputting, bythe microcontroller, a pulse signal to a stepping motor II which in turnrotates to lower the goods to the discharging platform, starting thesteering engine to open the clamping plate I and the clamping plate IIon the steering engine, and finally, lifting, by the stepping motor II,the gripping device to an original height to complete transferring. 10.The automatic-sensing transfer device based on an edge-tracing alignmentalgorithm according to claim 9, wherein the edge-tracing alignmentalgorithm comprises the following steps: Recording: a rotation angle Aof the stepping motor I is recorded when the infrared sensor detects oneside of the goods, and a rotation angle B of the stepping motor I isrecorded when the infrared sensor detects the other side of the goods;Calculation: a rotation angle of the stepping motor I from the initialposition to the center of the goods is (A+B)/2.